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<div class="title">mavlink_interface.cpp</div>  </div>
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<a href="mavlink__interface_8cpp.html">浏览该文件的文档.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="preprocessor">#include &quot;uav_link_ifs/mavlink_interface.h&quot;</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="preprocessor">#include &lt;nav_msgs/Path.h&gt;</span></div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="preprocessor">#include &lt;nav_msgs/Odometry.h&gt;</span></div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#include &quot;tf/transform_datatypes.h&quot;</span></div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;</div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;MAVLINK_INTERFACE::MAVLINK_INTERFACE(Parameters *_p_,UNIVERSAL_STATE *<a class="code" href="main_8cpp.html#a2a811a65e867041bcee444e8e66188a9">unity_state</a>){</div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;    _enable = <span class="keyword">true</span>;</div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;    <a class="code" href="flow__attacher_8cpp.html#a628de36a04ace954e48e1001ae9346f5">_p</a>=_p_;</div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;    <a class="code" href="flow__attacher_8cpp.html#ab0db892883304e1f5de7a967b5656f11">_unity</a>=<a class="code" href="main_8cpp.html#a2a811a65e867041bcee444e8e66188a9">unity_state</a>;</div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;    ros::NodeHandle nh;</div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;    mavlink_pub = std::make_shared&lt;ros::Publisher&gt;(nh.advertise&lt;mavros_msgs::Mavlink&gt;(<span class="stringliteral">&quot;mavlink/to&quot;</span>, 1));</div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;    vel_pub = std::make_shared&lt;ros::Publisher&gt;(nh.advertise&lt;geometry_msgs::Twist&gt;(<span class="stringliteral">&quot;/mavros/setpoint_velocity/cmd_vel_unstamped&quot;</span>, 1, <span class="keyword">true</span>));</div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;    pos_sub  =std::make_shared&lt;ros::Subscriber&gt;(nh.subscribe&lt;nav_msgs::Odometry&gt;(<span class="stringliteral">&quot;/mavros/global_position/local&quot;</span>,1,&amp;MAVLINK_INTERFACE::copter_info_handler,<span class="keyword">this</span>));</div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;    state_sub = std::make_shared&lt;ros::Subscriber&gt;(nh.subscribe&lt;mavros_msgs::State&gt;(<span class="stringliteral">&quot;mavros/state&quot;</span>,1,&amp;MAVLINK_INTERFACE::state_cb,<span class="keyword">this</span>));</div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;    commandlong_srv = std::make_shared&lt;ros::ServiceClient&gt; (nh.serviceClient&lt;mavros_msgs::CommandLong&gt;(<span class="stringliteral">&quot;mavros/cmd/command&quot;</span>));</div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;    arming_client_srv = std::make_shared&lt;ros::ServiceClient&gt;(nh.serviceClient&lt;mavros_msgs::CommandBool&gt;(<span class="stringliteral">&quot;mavros/cmd/arming&quot;</span>));</div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;    set_mode_client_srv = std::make_shared&lt;ros::ServiceClient&gt;(nh.serviceClient&lt;mavros_msgs::SetMode&gt;(<span class="stringliteral">&quot;mavros/set_mode&quot;</span>));</div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;}</div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;</div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="keywordtype">bool</span> MAVLINK_INTERFACE::subscribe_sensor_flow(){</div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;    <span class="comment">// if(Mavlink_Commmand(&quot;dist_sensor&quot;));</span></div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;    <span class="comment">//IMU数据订阅</span></div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;    <span class="comment">// if(Mavlink_Commmand(&quot;imu&quot;));</span></div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;    <span class="comment">//空间定位数据订阅</span></div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;    <span class="keywordflow">if</span>(Mavlink_Commmand(<span class="stringliteral">&quot;location&quot;</span>));</div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">true</span>;</div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;};</div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;</div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="keywordtype">bool</span> MAVLINK_INTERFACE::takeoff(){</div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;    <span class="keywordflow">return</span> Mavlink_Commmand(<span class="stringliteral">&quot;take_off&quot;</span>);</div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;}</div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;</div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="keywordtype">bool</span> MAVLINK_INTERFACE::set_arm(<span class="keywordtype">bool</span> arm){</div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;    mavros_msgs::CommandBool arm_cmd;</div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;    arm_cmd.request.value = arm;</div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;    ros::Rate loop(3);</div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;    <span class="keywordflow">while</span>( !armed()){</div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;        <span class="keywordflow">if</span>( arming_client_srv-&gt;call(arm_cmd) &amp;&amp;</div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;            arm_cmd.response.success){</div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;            ROS_INFO(<span class="stringliteral">&quot;SYSTEM ARMED&quot;</span>);</div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;            <span class="keywordflow">break</span>;</div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;        }</div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;        loop.sleep();</div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;    }</div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;}</div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="keywordtype">bool</span> MAVLINK_INTERFACE::set_mode(std::string mode){</div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;    mavros_msgs::SetMode mode_cmd;</div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;    <span class="comment">// mode_cmd.request.base_mode = 216 ;</span></div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;    mode_cmd.request.custom_mode = mode;</div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;    ros::Rate loop(3);</div><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;    <span class="keywordflow">while</span>(ros::ok()){</div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;        <span class="keywordflow">if</span>(current_state.mode != mode&amp;&amp;set_mode_client_srv-&gt;call(mode_cmd)&amp;&amp;mode_cmd.response.mode_sent){</div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;            ROS_INFO(<span class="stringliteral">&quot;MODE %s Enabled&quot;</span>,mode.c_str());</div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;            <span class="keywordflow">break</span>;</div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;        }</div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;        loop.sleep();</div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;    }</div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;}</div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;</div><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;</div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;</div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;<span class="keywordtype">void</span> MAVLINK_INTERFACE::setPositionLocalNED(velocity_Local_NED_t vel_cmd){</div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;</div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;    <span class="keywordflow">if</span>(!_enable||_link_down) <span class="keywordflow">return</span>;</div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;</div><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;    geometry_msgs::Twist __vel_cmd;</div><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;    __vel_cmd.linear.x=vel_cmd.vx;</div><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;    __vel_cmd.linear.y=vel_cmd.vy;</div><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;    __vel_cmd.linear.z=vel_cmd.vz;</div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;    </div><div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;    <span class="comment">// __vel_cmd.linear.x=0.5;</span></div><div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;    <span class="comment">// __vel_cmd.linear.y=0;</span></div><div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;    <span class="comment">// __vel_cmd.linear.z=0;</span></div><div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;</div><div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;    __vel_cmd.angular.z=vel_cmd.yaw_rate;</div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;    vel_pub-&gt;publish(__vel_cmd);</div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;</div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;}</div><div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;</div><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;<span class="keywordtype">bool</span> MAVLINK_INTERFACE::Mavlink_Commmand(std::string type){</div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;    mavros_msgs::CommandLong stream_rate_cmd;</div><div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;    stream_rate_cmd.response.success=<span class="keyword">false</span>;</div><div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;    <span class="keywordflow">if</span>(type==<span class="stringliteral">&quot;take_off&quot;</span>){</div><div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;        <span class="keywordtype">int</span> cnt=0;</div><div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;        ros::Rate loop_rate(2);</div><div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;        <span class="keywordflow">while</span>(!stream_rate_cmd.response.success){</div><div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;            <span class="keywordflow">if</span>(++cnt&gt;=2) {<a class="code" href="main_8cpp.html#a5ac4b17db930392c756a747dc7f98e5f">rout</a>(<span class="stringliteral">&quot;HAND MANUAL NEED.ALREADY TAKE OFF?&quot;</span>);<span class="keywordflow">break</span>;}</div><div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;            stream_rate_cmd.request.command=22;<span class="comment">//</span></div><div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;            stream_rate_cmd.request.confirmation=0;</div><div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;            stream_rate_cmd.request.param1=0;<span class="comment">//distance_sensor_id</span></div><div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;            stream_rate_cmd.request.param2=0;<span class="comment">//10hz  单位是ns</span></div><div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;            stream_rate_cmd.request.param3=0;<span class="comment">//10hz  单位是ns</span></div><div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;            stream_rate_cmd.request.param4=0;<span class="comment">//10hz  单位是ns</span></div><div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;            stream_rate_cmd.request.param5=0;<span class="comment">//10hz  单位是ns</span></div><div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;            stream_rate_cmd.request.param6=0;<span class="comment">//10hz  单位是ns</span></div><div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;            stream_rate_cmd.request.param7=2;<span class="comment">//10hz  单位是ns</span></div><div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;            commandlong_srv-&gt;call(stream_rate_cmd);</div><div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;            ROS_INFO(<span class="stringliteral">&quot;COMMAND TAKEOFF RESPOND %s.\r\nCheck if Mavros has already startd.&quot;</span>,stream_rate_cmd.response.success?<span class="stringliteral">&quot;Success&quot;</span>:<span class="stringliteral">&quot;Failed&quot;</span>);</div><div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;            loop_rate.sleep();</div><div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;        }</div><div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;</div><div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;        <span class="keywordflow">return</span> <span class="keyword">true</span>;</div><div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;    }</div><div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;    <span class="keywordflow">if</span>(type==<span class="stringliteral">&quot;dist_sensor&quot;</span>){</div><div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;        ros::Rate loop_rate(10);</div><div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;        <span class="keywordflow">while</span>(!stream_rate_cmd.response.success){</div><div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;            stream_rate_cmd.request.command=511;<span class="comment">//mav_cmd_set_message_interval</span></div><div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;            stream_rate_cmd.request.confirmation=0;</div><div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;            stream_rate_cmd.request.param1=132;<span class="comment">//distance_sensor_id</span></div><div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;            stream_rate_cmd.request.param2=100000;<span class="comment">//10hz  单位是ns</span></div><div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;            commandlong_srv-&gt;call(stream_rate_cmd);</div><div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;            ROS_INFO(<span class="stringliteral">&quot;COMMAND distance_sensor_id RESPOND %s.\r\nCheck if Mavros has already startd.&quot;</span>,stream_rate_cmd.response.success?<span class="stringliteral">&quot;Success&quot;</span>:<span class="stringliteral">&quot;Failed&quot;</span>);</div><div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;            loop_rate.sleep();</div><div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;        }</div><div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;        <span class="keywordflow">return</span> <span class="keyword">true</span>;</div><div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;    }</div><div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;    <span class="keywordflow">if</span>(type==<span class="stringliteral">&quot;imu&quot;</span>){</div><div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;        ros::Rate loop_rate(10);</div><div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;        <span class="keywordflow">while</span>(!stream_rate_cmd.response.success){</div><div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;            stream_rate_cmd.request.command=511;<span class="comment">//mav_cmd_set_message_interval</span></div><div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;            stream_rate_cmd.request.confirmation=0;</div><div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;            stream_rate_cmd.request.param1=30;<span class="comment">//attitude</span></div><div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;            stream_rate_cmd.request.param2=20000;<span class="comment">//50hz  单位是ns</span></div><div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;            commandlong_srv-&gt;call(stream_rate_cmd);</div><div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;            ROS_INFO(<span class="stringliteral">&quot;COMMAND ATTITUDE RESPOND %s.\r\nCheck if Mavros has already startd.&quot;</span>,stream_rate_cmd.response.success?<span class="stringliteral">&quot;Success&quot;</span>:<span class="stringliteral">&quot;Failed&quot;</span>);</div><div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;            loop_rate.sleep();</div><div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;        }</div><div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;        <span class="keywordflow">return</span> <span class="keyword">true</span>;</div><div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;    }</div><div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;    <span class="keywordflow">if</span>(type==<span class="stringliteral">&quot;location&quot;</span>){</div><div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;        ros::Rate loop_rate(10);</div><div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;        <span class="keywordflow">while</span>(!stream_rate_cmd.response.success){</div><div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;            stream_rate_cmd.request.command=511;<span class="comment">//mav_cmd_set_message_interval</span></div><div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;            stream_rate_cmd.request.confirmation=0;</div><div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;            stream_rate_cmd.request.param1=33;<span class="comment">//LAT_LON</span></div><div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;            stream_rate_cmd.request.param2=100000;<span class="comment">//10hz  单位是ns</span></div><div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;            commandlong_srv-&gt;call(stream_rate_cmd);</div><div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;            ROS_INFO(<span class="stringliteral">&quot;COMMAND LAT_LON RESPOND %s.\r\nCheck if Mavros has already startd.&quot;</span>,stream_rate_cmd.response.success?<span class="stringliteral">&quot;Success&quot;</span>:<span class="stringliteral">&quot;Failed&quot;</span>);</div><div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;            loop_rate.sleep();</div><div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;        }</div><div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;        <span class="keywordflow">return</span> <span class="keyword">true</span>;</div><div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;    }</div><div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;}</div><div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;<span class="keywordtype">void</span> MAVLINK_INTERFACE::copter_info_handler(<span class="keyword">const</span> nav_msgs::Odometry::ConstPtr &amp;msg){</div><div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;</div><div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;    <a class="code" href="flow__attacher_8cpp.html#ab0db892883304e1f5de7a967b5656f11">_unity</a>-&gt;first_data_get=<span class="keyword">true</span>;</div><div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;    copter_local_pos_att.pos_x=msg-&gt;pose.pose.position.x;</div><div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;    copter_local_pos_att.pos_y=msg-&gt;pose.pose.position.y;</div><div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;    copter_local_pos_att.pos_z=msg-&gt;pose.pose.position.z;</div><div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;    copter_local_pos_att.att_x=msg-&gt;pose.pose.orientation.x;</div><div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;    copter_local_pos_att.att_y=msg-&gt;pose.pose.orientation.y;</div><div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;    copter_local_pos_att.att_z=msg-&gt;pose.pose.orientation.z;</div><div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;    copter_local_pos_att.att_w=msg-&gt;pose.pose.orientation.w;</div><div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;</div><div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;    tf::Quaternion quat(copter_local_pos_att.att_x</div><div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;                                                ,copter_local_pos_att.att_y</div><div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;                                                ,copter_local_pos_att.att_z</div><div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;                                                ,copter_local_pos_att.att_w);</div><div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;</div><div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;</div><div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;    tf::Matrix3x3(quat).getRPY(copter_local_pos_att.roll</div><div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;                                                ,copter_local_pos_att.pitch</div><div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;                                                ,copter_local_pos_att.yaw);</div><div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;    <span class="comment">// rout(&quot;yaw :%f &quot;,copter_local_pos_att.yaw);</span></div><div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;</div><div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;}</div><div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;</div><div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;std::string MAVLINK_INTERFACE::get_mode(){</div><div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;    <span class="keywordflow">return</span> current_state.mode;</div><div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;}</div><div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;</div><div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;</div><div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;</div><div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;</div><div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;<span class="preprocessor">#include &lt;ardupilotmega/mavlink.h&gt;</span></div><div class="line"><a name="l00176"></a><span class="lineno"><a class="line" href="namespacemavlink.html">  176</a></span>&#160;<span class="keyword">namespace </span><a class="code" href="namespacemavlink.html">mavlink</a>{</div><div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;</div><div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;</div><div class="line"><a name="l00179"></a><span class="lineno"><a class="line" href="mavlink__interface_8cpp.html#a685e651fe01c4f8061f886d3a557d52f">  179</a></span>&#160;<span class="preprocessor">#define DEFAULT_SYS_ID 0</span></div><div class="line"><a name="l00180"></a><span class="lineno"><a class="line" href="mavlink__interface_8cpp.html#a6a440d519f23a7b592984b2986b6350a">  180</a></span>&#160;<span class="preprocessor">#define DEFAULT_COMPONENT 0</span></div><div class="line"><a name="l00181"></a><span class="lineno"><a class="line" href="namespacemavlink.html#a33d2555f5d1fabe24a8ad737b3b759af">  181</a></span>&#160;<span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="namespacemavlink.html#a33d2555f5d1fabe24a8ad737b3b759af">convert</a>(<span class="keyword">const</span> mavros_msgs::Mavlink &amp;rmsg, mavlink_message_t &amp;mmsg)</div><div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;{</div><div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;    <span class="keywordflow">if</span> (rmsg.payload64.size() &gt; <span class="keyword">sizeof</span>(mmsg.payload64) / <span class="keyword">sizeof</span>(mmsg.payload64[0])) {</div><div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;        <span class="keywordflow">return</span> <span class="keyword">false</span>;</div><div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;    }</div><div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;</div><div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;    <span class="keywordflow">if</span> (!rmsg.signature.empty() &amp;&amp; rmsg.signature.size() != <span class="keyword">sizeof</span>(mmsg.signature)) {</div><div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;        <span class="keywordflow">return</span> <span class="keyword">false</span>;</div><div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;    }</div><div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;</div><div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;    <span class="comment">// [[[cog:</span></div><div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;    <span class="comment">// for f in FIELD_NAMES:</span></div><div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;    <span class="comment">//     cog.outl(&quot;mmsg.%s = rmsg.%s;&quot; % (f, f))</span></div><div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;    <span class="comment">// ]]]</span></div><div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;    mmsg.magic = rmsg.magic;</div><div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;    mmsg.len = rmsg.len;</div><div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;    mmsg.incompat_flags = rmsg.incompat_flags;</div><div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;    mmsg.compat_flags = rmsg.compat_flags;</div><div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;    mmsg.seq = rmsg.seq;</div><div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;    mmsg.sysid = rmsg.sysid;</div><div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;    mmsg.compid = rmsg.compid;</div><div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;    mmsg.msgid = rmsg.msgid;</div><div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;    mmsg.checksum = rmsg.checksum;</div><div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;    <span class="comment">// [[[end]]] (checksum: 2ef42a7798f261bfd367bf4157b11ec0)</span></div><div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;    std::copy(rmsg.payload64.begin(), rmsg.payload64.end(), mmsg.payload64);</div><div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;    std::copy(rmsg.signature.begin(), rmsg.signature.end(), mmsg.signature);</div><div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;</div><div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">true</span>;</div><div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;}</div><div class="line"><a name="l00210"></a><span class="lineno"><a class="line" href="namespacemavlink.html#af07de539a2994b99a182280e214ce0e3">  210</a></span>&#160;<span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="namespacemavlink.html#a33d2555f5d1fabe24a8ad737b3b759af">convert</a>(<span class="keyword">const</span> mavlink_message_t &amp;mmsg, mavros_msgs::Mavlink &amp;rmsg, uint8_t framing_status = mavros_msgs::Mavlink::FRAMING_OK)</div><div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;{</div><div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">size_t</span> payload64_len = (mmsg.len + 7) / 8;</div><div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;</div><div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;    rmsg.framing_status = framing_status;</div><div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;</div><div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;    <span class="comment">// [[[cog:</span></div><div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;    <span class="comment">// for f in FIELD_NAMES:</span></div><div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;    <span class="comment">//     cog.outl(&quot;rmsg.%s = mmsg.%s;&quot; % (f, f))</span></div><div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;    <span class="comment">// ]]]</span></div><div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;    rmsg.magic = mmsg.magic;</div><div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;    rmsg.len = mmsg.len;</div><div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;    rmsg.incompat_flags = mmsg.incompat_flags;</div><div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;    rmsg.compat_flags = mmsg.compat_flags;</div><div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;    rmsg.seq = mmsg.seq;</div><div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;    rmsg.sysid = mmsg.sysid;</div><div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;    rmsg.compid = mmsg.compid;</div><div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;    rmsg.msgid = mmsg.msgid;</div><div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;    rmsg.checksum = mmsg.checksum;</div><div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;    <span class="comment">// [[[end]]] (checksum: 4f0a50d2fcd7eb8823aea3e0806cd698)</span></div><div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;    rmsg.payload64 = std::move(mavros_msgs::Mavlink::_payload64_type(mmsg.payload64, mmsg.payload64 + payload64_len));</div><div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;</div><div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;    <span class="comment">// copy signature block only if message is signed</span></div><div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;    <span class="keywordflow">if</span> (mmsg.incompat_flags &amp; MAVLINK_IFLAG_SIGNED)</div><div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;        rmsg.signature = std::move(mavros_msgs::Mavlink::_signature_type(mmsg.signature, mmsg.signature + <span class="keyword">sizeof</span>(mmsg.signature)));</div><div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;    <span class="keywordflow">else</span></div><div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;        rmsg.signature.clear();</div><div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;</div><div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">true</span>;</div><div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;}</div><div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;}<span class="comment">//mavlink</span></div><div class="ttc" id="main_8cpp_html_a5ac4b17db930392c756a747dc7f98e5f"><div class="ttname"><a href="main_8cpp.html#a5ac4b17db930392c756a747dc7f98e5f">rout</a></div><div class="ttdeci">#define rout</div><div class="ttdef"><b>Definition:</b> <a href="main_8cpp_source.html#l00030">main.cpp:30</a></div></div>
<div class="ttc" id="main_8cpp_html_a2a811a65e867041bcee444e8e66188a9"><div class="ttname"><a href="main_8cpp.html#a2a811a65e867041bcee444e8e66188a9">unity_state</a></div><div class="ttdeci">UNIVERSAL_STATE unity_state</div><div class="ttdef"><b>Definition:</b> <a href="main_8cpp_source.html#l00029">main.cpp:29</a></div></div>
<div class="ttc" id="namespacemavlink_html_a33d2555f5d1fabe24a8ad737b3b759af"><div class="ttname"><a href="namespacemavlink.html#a33d2555f5d1fabe24a8ad737b3b759af">mavlink::convert</a></div><div class="ttdeci">bool convert(const mavros_msgs::Mavlink &amp;rmsg, mavlink_message_t &amp;mmsg)</div><div class="ttdef"><b>Definition:</b> <a href="mavlink__interface_8cpp_source.html#l00181">mavlink_interface.cpp:181</a></div></div>
<div class="ttc" id="flow__attacher_8cpp_html_a628de36a04ace954e48e1001ae9346f5"><div class="ttname"><a href="flow__attacher_8cpp.html#a628de36a04ace954e48e1001ae9346f5">_p</a></div><div class="ttdeci">Parameters * _p</div><div class="ttdef"><b>Definition:</b> <a href="flow__attacher_8cpp_source.html#l00003">flow_attacher.cpp:3</a></div></div>
<div class="ttc" id="flow__attacher_8cpp_html_ab0db892883304e1f5de7a967b5656f11"><div class="ttname"><a href="flow__attacher_8cpp.html#ab0db892883304e1f5de7a967b5656f11">_unity</a></div><div class="ttdeci">UNIVERSAL_STATE * _unity</div><div class="ttdef"><b>Definition:</b> <a href="flow__attacher_8cpp_source.html#l00004">flow_attacher.cpp:4</a></div></div>
<div class="ttc" id="namespacemavlink_html"><div class="ttname"><a href="namespacemavlink.html">mavlink</a></div><div class="ttdef"><b>Definition:</b> <a href="mavlink__interface_8cpp_source.html#l00176">mavlink_interface.cpp:176</a></div></div>
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